CN102448854A - Conveyance vehicle system - Google Patents
Conveyance vehicle system Download PDFInfo
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- CN102448854A CN102448854A CN2010800239205A CN201080023920A CN102448854A CN 102448854 A CN102448854 A CN 102448854A CN 2010800239205 A CN2010800239205 A CN 2010800239205A CN 201080023920 A CN201080023920 A CN 201080023920A CN 102448854 A CN102448854 A CN 102448854A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67276—Production flow monitoring, e.g. for increasing throughput
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67294—Apparatus for monitoring, sorting or marking using identification means, e.g. labels on substrates or labels on containers
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67727—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations using a general scheme of a conveying path within a factory
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67736—Loading to or unloading from a conveyor
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67769—Storage means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0297—Wafer cassette
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- Microelectronics & Electronic Packaging (AREA)
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Abstract
A conveyance vehicle system having increased efficiency of operation of loading an article into the loading opening of an automated warehouse from a conveyance vehicle. A conveyance vehicle system (1) comprises a stocker (11), a conveyance vehicle (3), and a conveyance vehicle controller (27). The stocker (11) comprises racks (38), a loading port (13), and a stocker controller (25). The conveyance vehicle (3) loads an article (W) into the loading port (13) of the stocker (11). The conveyance vehicle controller (27) issues to the conveyance vehicle (3) a command for conveying the article to the stocker (11). The stocker controller (25) receives a predicted conveyance command before the article (W) is loaded into the stocker (11) from the conveyance vehicle (3). The predicted conveyance command includes ID information of the article (W) and information indicating whether or not the article (W) is to be loaded into a rack (38).
Description
Technical field
The present invention relates to delivery wagon, this delivery wagon possesses automated warehouse with automated warehouse controller and the waggon that between automated warehouse, carries out the article transfer.
Background technology
Known in the past have a kind of delivery wagon, and it has the track of turn-taking, a plurality of workstations that on the path of track of turn-taking, are provided with and comes articles conveyed a plurality of waggons along the track one-way traffic of turn-taking.Between workstation and waggon, freight (article being put into waggon) and unload (article being discharged to workstation) from waggon from workstation.
On the other hand, as an example of above-mentioned workstation, known have in semiconductor factory FOUP (Front Opening Unified Pod: the front opening film magazine) carry out accumulator certainly.Accumulator is an automated warehouse, the stack crane that has a plurality of shelf and go along shelf.In accumulator, for example when warehouse-in, bridge conveying car is sent FOUP into load port, and then stack crane is delivered to FOUP the shelf of regulation.When outbound, stack crane is delivered to the unloading mouth with FOUP from the shelf of stipulating, then bridge conveying car is seen FOUP off from the unloading mouth.
Also known have a kind of automated warehouse, and it is only created in advance extra urgent article and carries instruction in advance, and the article that are placed on load port directly are delivered to unloading mouthful (for example, with reference to a patent documentation 1).
[patent documentation 1] TOHKEMY 2005-162451 communique
Inboard in the load port of accumulator disposes the hoisting crane mouth, between two mouths, disposes the warehouse-in belt conveyor.When bridge conveying car is positioned over load port with FOUP, then puts belt conveyor in storage and just FOUP is delivered to the hoisting crane mouth.And hoisting crane is delivered to FOUP the shelf of regulation.Be provided with the structure same at the unloading oral-lateral, carry out opposite action with load port.
The control action that article is admitted under the situation of accumulator describes.When FOUP was placed on the hoisting crane mouth, the ID reader read the id information of FOUP, and sent it to the accumulator controller.Thus, according to id information, the accumulator controller sends id information to the logistics controller, and inquiry could be carried.Thus, the logistics controller sends to the accumulator controller and carries instruction.The accumulator controller moves to hoisting crane mouth with article from load port through the warehouse-in belt conveyor, and through stack crane, article is moved to shelf from the hoisting crane mouth after receiving the conveying instruction.
On the other hand, when the article that begin to send into from waggon, carry out the action of sending into to load port sometimes continuously.Therefore, the article that require to be admitted to load port promptly are delivered to the shelf of automated warehouse.But, under current situation, be difficult to improve the handling efficiency at load port place sometimes, thereby cause article to be placed to load port and be not processed.In this case, waggon can't be unloaded article to load port, its result, and delivery wagon single-piece transport efficiency descends.
Summary of the invention
Problem of the present invention is, in delivery wagon, improves the efficient of action of article being sent into the warehouse-in mouth of automated warehouse from waggon.
Describe down in the face of a plurality of modes as the method that is used to solve problem.These modes as required can be by combination at random.
Delivery wagon possesses automated warehouse, waggon and waggon controller.Automated warehouse has shelf, warehouse-in mouth and automated warehouse controller.Waggon is sent into article to the warehouse-in mouth.The waggon controller divides the orientation automated warehouse articles conveyed article delivery instruction to waggon.The automated warehouse controller received prediction and carries instruction before article are fed through automated warehouse from waggon.Prediction carries id information that instruction comprises article and expression article whether to be fed to the whether information of shelf.
In this system, the automated warehouse controller received prediction and carries instruction before article are fed through automated warehouse from waggon.Therefore, the automated warehouse controller can be carried out and accept article conveying prior operation before.Therefore, can be after receiving article promptly with article delivery to shelf.
Its result, the idle state of the warehouse-in mouth of automated warehouse becomes many, even therefore continuously article are sent under the situation of warehouse-in mouth at waggon, transport efficiency can not descend easily yet.
Particularly, because prediction carries instruction to comprise the whether information whether the expression article are fed to shelf, whether the article that are placed on warehouse-in mouthful are placed into shelf so the automated warehouse controller can form a prompt judgement.Therefore, the conveying prior operation of before accepting article, carrying out becomes more accurate.
The automated warehouse controller also can be carried instruction according to prediction, creates the interior location information of shelf that article are transported to.In this case, the conveying prior operation of before accepting article, carrying out becomes more accurate.
The automated warehouse controller is packed into after the article that automated warehouse is carried at waggon, receives prediction and carries instruction.
In this system, because the time point that the situation of article being sent into automated warehouse at waggon has finally been confirmed, the automated warehouse controller receives prediction and carries instruction, carries the probability of instruction to reduce so the automated warehouse controller receives invalid prediction.In other words, the automated warehouse controller can receive the failure-free instruction the earliest.Its result, the automated warehouse controller can begin to carry prior operation as early as possible.
Delivery wagon also can possess the system controller that automated warehouse controller and waggon controller are managed.In this case, system controller is sending the conveying instruction to the waggon controller, and further after the information that the loading of waggon controller reception waggon finishes, to automated warehouse controller transmission prediction conveying instruction.
In this system, because sending prediction to the automated warehouse controller, system controller carries instruction, so can send effectively.Its reason is that system controller is accepted the information that the waggon loading finishes from the waggon controller, need not to be used to the special operation of the situation of holding.In addition, also need not to have special communication environment.
The ID reader that automated warehouse also can have stack crane and the id information that is fed to the article of putting mouth in storage is read.In this case; The automated warehouse controller will be predicted and carry instruction to be kept in the tabulation; When the ID reader receives id information, the id information of article and the prediction in the tabulation carried instruct whether consistent the verification, if the id information of article and the prediction in the tabulation carry instruct consistent; Then carry instruction, make stack crane mobile article in automated warehouse according to prediction.
In this system, can handle the prediction conveying instruction that tabulation is preserved reliably.
The automated warehouse controller also can carry instruction to preserve with location information prediction, also can article be moved to the position in the represented shelf of location information.
The delivery wagon control method that other viewpoints of the present invention relate to possessing automated warehouse with shelf and warehouse-in mouthful and sending in the delivery wagon of waggon of article to warehouse-in mouth, comprises the following step.
◎ divides the conveying command assignment step of the articles conveyed article delivery instruction of orientation automated warehouse to waggon
◎ is before article are fed through automated warehouse from waggon, and whether id information and the expression article that will comprise article are fed to prediction that the prediction of the whether information of shelf carries instruction to be sent to automated warehouse and carry the instruction step of delivering letters
In this case, before article were sent to automated warehouse from waggon, prediction carried instruction to be sent out.Therefore, can carry out the conveying prior operation of accepting before the article.Therefore, can be after receiving article promptly with article delivery to shelf.
Its result, the idle state of the warehouse-in mouth of automated warehouse becomes many, even therefore continuously article are sent under the situation of warehouse-in mouth at waggon, transport efficiency can not descend easily yet.
Particularly, because prediction carries instruction to comprise the whether information whether the expression article are fed to shelf, so whether the article that are positioned over warehouse-in mouthful that can form a prompt judgement are placed into shelf.Therefore, the conveying prior operation of before accepting article, carrying out becomes more accurate.
Can also comprise according to prediction and carry instruction, the shelf location information creating step of the location information of the shelf that the establishment article are transported to.In this case, the conveying prior operation of before accepting article, carrying out becomes more accurate.
Also can pack into after the article that automated warehouse is carried, carry out prediction and carry the instruction step of delivering letters at waggon.
In this case, because the time point that the situation of article being sent into automated warehouse at waggon has finally been confirmed, prediction carries instruction to be sent out, so the probability that invalid prediction carries instruction to be sent out reduces.In other words, the failure-free instruction is sent the earliest.Its result carries prior operation to be begun as early as possible.
Can also comprise the following step.
The step that ◎ carries instruction to preserve to prediction
The step that ◎ reads the id information that is fed to the article of putting mouth in storage
◎ carries the whether consistent step of verifying of instruction to the id information of article and the prediction of being preserved
If the id information of ◎ article carries instruction consistent with the prediction of being preserved, the step of then carrying instruction that article are moved in automated warehouse according to prediction
In this system, can handle the prediction conveying instruction that tabulation is preserved reliably.
Also can carry instruction to preserve prediction, can also make article move to the position in the represented shelf of location information with location information.
In the delivery wagon that the present invention relates to, can improve the efficient of action of article being sent into the warehouse-in mouth of automated warehouse from waggon.
Description of drawings
Fig. 1 is the part birds-eye view of the layout of the delivery wagon that relates to of expression an embodiment of the invention.
Fig. 2 is the scheme drawing of the relation of expression accumulator and delivery wagon.
Fig. 3 is the block diagram of the control system of expression delivery wagon.
Fig. 4 is the block diagram of the formation of expression waggon controller.
Fig. 5 is the scheme drawing of the relation of expression accumulator controller and accumulator.
Fig. 6 is the figure of expression based on the course of conveying of the article of the communication between waggon controller, logistics controller, accumulator controller.
Fig. 7 is the diagram of circuit of the control action of expression accumulator controller.
Fig. 8 is that list of instructions is carried in the prediction that the memory device of accumulator controller is preserved.
The specific embodiment
(1) delivery wagon
As the delivery wagon of an embodiment of the invention, be the system that is used to make a plurality of waggons on the delivery track of regulation, to go.Waggon uniaxially on delivery track goes, and according to the conveying instruction that is distributed by upper controller, from the destination locations article of packing into, then drives to the position of carrying the destination, article is discharged to the position of carrying the destination.
More specifically, delivery wagon for example utilizes the head room in the Clean room and is configured, and article such as the FOUP that contains semiconductor wafer are carried between the loading hatch of processing equipment and testing fixture etc.Delivery track constitutes by the inline track routes of the U word shape in the track of arranging processing equipment with these 2 kinds of tracks of the interconnective intraconnection track route of inner tracks route.
(2) layout of delivery wagon
Utilize Fig. 1 that the layout of delivery wagon 1 is described.Fig. 1 is the part birds-eye view of the layout of the delivery wagon that relates to of expression an embodiment of the invention.
In the equipment of processing equipment 9 and accumulator 11 grades, be provided with and be used in equipment, sending into the load port 13 of article W and be used for the unloading mouth 15 of slave unit to waggon 3 loaded with articles W.In addition, also can be with load port 13 and unloading mouthful 15 dual-purposes.
Though do not illustrate among the figure, in accumulator 11, a plurality of load port can be set yet.
Utilize Fig. 2 further accumulator 11 to be described.Accumulator 11 has a plurality of shelf 38 and stack crane 39.Stack crane 39 can go along shelf 38, can articles conveyed W.Near the load port 13 of accumulator 11, be provided with hoisting crane mouth 43 and warehouse-in belt conveyor 45.Load port 13 is configured in the outside of accumulator 11, and hoisting crane mouth 43 is configured in the inboard of accumulator 11.The article W that is positioned over load port 13 is transported to hoisting crane mouth 43 through warehouse-in belt conveyor 45, and is transported to shelf 38 through stack crane 39.
Dispose sensor 31 in load port 13 in the storehouse.Sensor 31 is to be used for article W is placed on the sensor that the situation of load port 13 detects in the storehouse.Sensor 31 is opto-electronic pickups of through mode in the storehouse, but also can be other sensors.And, near load port 13, be provided with and be used for ID reader 33 that the ID that article W is attached is read.ID can be bar code or RFID label, and ID reader 33 can be barcode reader or RFID reader.
(3) control system of delivery wagon
Utilize Fig. 3～Fig. 5, the control system 20 of delivery wagon 1 is described.Fig. 3 is the block diagram of the control system of expression delivery wagon.Fig. 4 is the block diagram of the control system of expression waggon controller and waggon.Fig. 5 is the scheme drawing of the relation of expression accumulator controller and accumulator.
(3-1) integral body
27 pairs of a plurality of waggons 3 of waggon controller are managed, and have to them to distribute the distribution function of carrying instruction.In addition, " carry instruction " comprises and the relevant instruction of going, the instruction relevant with discharge location with delivery location.
Waggon controller 27 communicates with each waggon 3 in order to create the conveying instruction continuously, is the basis with the position data of sending from each waggon 3, obtains its location information.As the example of obtaining location information, following method is arranged.On delivery track, set a plurality of points in advance, when waggon 3 passes through point, will be sent to waggon controller 27 through signal.On this basis, waggon controller 27 is stored the point and the moment through putting that waggons 3 have just passed through.And specified speed and the time interval with this point are the basis, and the position of waggon 3 is obtained in computing.Perhaps, for example coder is arranged on the waggon 3 in advance, will from through the operating range that begins behind the point as position data, be sent to waggon controller 27 from waggon 3, waggon controller 27 is held the position of waggon 3 thus.
(3-2) waggon controller
Utilize Fig. 4 that waggon controller 27 is described.Fig. 4 is the block diagram of the formation of expression waggon controller 27.
Waggon controller 27 is the computing machines that constituted, are used for executive routine by CPU, RAM, ROM etc., has control part 47 and memory device 48.Control part 47 communicates with waggon 3, and also communicates with logistics controller 23.
Memory device 48 is preserved the route mapping.So-called route mapping is the position of the configuration that records running route, initial point, with the mapping of initial point as the coordinate of the reference position of benchmark and transfer position.Coordinate is the numerical value of output pulse count etc. that the operating range that begins from initial point is converted into the coder of waggon 3.Control part 47 can read the route mapping from memory device 48.
(3-3) accumulator controller
Utilize Fig. 5 that accumulator controller 25 and accumulator 11 are described.Fig. 5 is the scheme drawing of the relation of expression accumulator controller and accumulator.
In Fig. 5, though only represented an accumulator 11, in this embodiment, accumulator controller 25 can be controlled a plurality of accumulators 11.
(4) control action
Utilize Fig. 6 and Fig. 7, the control action of delivery wagon 1 is described.Fig. 6 is the figure of expression based on the course of conveying of the article of the communication between waggon controller, logistics controller, the accumulator controller.Fig. 7 is the diagram of circuit of the control action of expression accumulator controller.
Here, the waggon 3 that is mounted with article W is described in the situation that the load port 13 of accumulator 11 unloads article.
At first, logistics controller 23 sends to waggon controller 27 and carries instruction.Thus, waggon controller 27 distributes the conveying instruction to waggon 3.
The control part 29 of accumulator controller 25 will be predicted and carry instruction to be stored in memory device 30 (the step S2 of Fig. 7).In addition, accumulator controller 25 receives prediction and carries instruction, creates the location information (shelf numbering) of the shelf 38 that article W is transported in advance.Its result, prediction carries instruction to be preserved with the tabular form of that kind shown in Figure 8.
And the control part 29 of accumulator controller 25 carries indicated the sending into of instruction to prepare to prediction, carries preparation (the step S3 of Fig. 7).Particularly, exist under the situation of article W at load port 13 places of load port 13, control part 29 drives warehouse-in belt conveyor 45, makes article W move to hoisting crane mouth 43.And the control part 29 of accumulator controller 25 drives stack crane 39, makes article W move to shelf 38.In addition, control part 29 also can drive the transfer that stack crane 39 carries out the article W in the shelf 38.
Particularly; 29 pairs of predictions to the load port 13 of each accumulator 11 of the control part of accumulator controller 25 carry the quantity of instruction to add up to; In that having taken place, total number surpassed situation of threshold value etc.; Can take place under the chaotic situation thereby predict,, preferentially carry out the warehouse-in of the article W on the load port 13 and handle with respect to other load port or other actions.
When waggon 3 arrived load port 13, waggon 3 unloaded load port 13 (the step S4 of Fig. 7) with article W.Waggon 3 sends out turn to waggon controller 27, and then waggon controller 27 sends out turn to logistics controller 23.
In addition, the control part 29 of accumulator controller 25 receives the detection signal (the step S4 of Fig. 7 " being ") of comfortable storehouse sensor 31.Because even accumulator controller 25 does not receive instruction from upper, also can carry instruction carry, so also can there not be Wait In (wait) signal according to prediction.
Then, ID reader 33 reads the id information (the step S5 of Fig. 7) of article W, and sends to accumulator controller 25.Accumulator controller 25 is when receiving id information, and can judgement carry instruction to carry out related (the step S6 of Fig. 7) id information and prediction.If can carry out association, then accumulator controller 25 is carried out id information and is carried related (the step S7 of Fig. 7) of instruction with prediction.If can not carry out association; Then accumulator controller 25 is according to id information; Carry destination (for example shelf numbering) (step S9) to 23 inquiries of logistics controller, logistics controller 23 sends to accumulator controller 25 and carries instruction (the step S10 of Fig. 7 " being ").
And the control part 29 of accumulator controller 25 drives warehouse-in belt conveyor 45, makes article W move to hoisting crane mouth 43 (the step S8 of Fig. 7) from load port 13.
In addition, after carrying beginning, 25 pairs of logistics controllers of accumulator controller 23 carry out the ID contact.It is the affirmation carried out of the situation of right instructions and in the renewal of upper management data that this ID contact is used to carry instruction to prediction.In addition, if in the past, through this ID contact, carry instruction, and then send instruction to the accumulator controller by the decision of logistics controller.
When article W had arrived hoisting crane mouth 43, crane controller 37 transmitted control signal to stack crane 39, made stack crane 39 that article W is delivered to shelf 38.Perhaps, stack crane 39 is not put into shelf 38 with article W, but it is moved to the hoisting crane mouth of unloading mouth 15.
In aforesaid control action; Because the control part 29 to accumulator controller 25 has sent prediction conveying instruction in advance; So at article W during by actual fed to load port 13, it is higher that accumulator 11 can begin immediately to carry out that article W is put into the possibility of action of shelf 38.
If in the past, that kind as shown in Figure 6, logistics controller 23 to accumulator controller 25 send till carrying instruction during, accumulator 11 can't begin to carry out article W is put into the action of shelf 38.The action of putting into of this embodiment is compared with the action of putting in the past the zero hour zero hour, early shortening time T (for example 2 seconds).
(5) characteristic
Above-mentioned embodiment can show as following mode.
In this system, accumulator controller 25 from waggon 3 before accumulator 11 is sent into article W, receive prediction and carry instruction.Therefore, accumulator controller 25 just can be carried out the conveying prior operation before receiving article W.Therefore, can after receiving article W, promptly article W be delivered to shelf 38.
Its result, the load port 13 idle states of accumulator 11 become many, even therefore continuously article W is sent under the situation of load port 13 at waggon 3, transport efficiency can not descend easily yet.
Particularly, because prediction carries instruction to comprise the whether information whether expression article W is fed to shelf 38, whether the article W that is positioned over load port 13 is placed into shelf 38 so accumulator controller 25 can form a prompt judgement.Therefore, the conveying prior operation of before accepting article W, carrying out becomes more accurate.
Packed into after the article W that accumulator 11 is carried at waggon 3, accumulator controller 25 receives prediction and carries instruction.
In this system, because the time point that the situation of article W being sent into accumulator 11 at waggon 3 has finally been confirmed, accumulator controller 25 receives prediction and carries instruction, carries the probability of instruction to reduce so accumulator controller 25 receives invalid prediction.In other words, accumulator controller 25 can receive the failure-free instruction the earliest.Its result, accumulator controller 25 can begin to carry prior operation early.
In this system, because sending prediction to accumulator controller 25, logistics controller 23 carries instruction, so can send effectively.Its reason is that logistics controller 23 receives the information that waggon 3 loadings finish from waggon controller 27, and need not to be used to the special operation of the situation of holding.In addition, also need not to have special communication environment.
The ID reader 33 that accumulator 11 also has stack crane 39 and the id information of the article W that is admitted to load port 13 is read.Accumulator controller 25 will be predicted and carry instruction to be kept in the tabulation; When ID reader 33 receives id information; The id information of article W and the prediction in the tabulation carried instruct whether consistent the verification; If the id information of article carries instruction consistent with the prediction in the tabulation, then carry instruction according to prediction, stack crane 39 is moved to article W in the accumulator 11.
In this system, can handle the prediction conveying instruction that tabulation is preserved reliably.
(6) other embodiments
More than an embodiment of the invention are illustrated, but the present invention is not limited to above-mentioned embodiment, can in the scope of the aim that does not break away from invention, carry out various changes.Particularly, a plurality of embodiments and the variation write of this specification sheets can make up as required arbitrarily.
The combination of the information that prediction conveying instruction is comprised is not limited by above-mentioned embodiment.For example, prediction carries instruction also can not comprise the shelf numbering.
In the above-described embodiment, logistics controller 23 sends prediction conveying instruction, does not create prediction conveying instruction but do not limit by logistics controller 23.For example, also can create prediction and carry instruction, and directly be sent to accumulator controller 25 by waggon controller 27.
In the above-described embodiment, when accumulator controller 25 had read the ID of article W, accumulator controller 25 was not inquired logistics controller 23, but can be inquired yet.In this case, for example, logistics controller 23 will carry instruction (ratio signals) to be sent to accumulator controller 25.Thus, accumulator controller 25 can instruct according to the higher conveying of reliability article W is delivered to shelf 38.For example, also can utilize this changed content even after prediction carries instruction to be sent out, taken place again under the situation of change.
In the above-described embodiment; After prediction carried instruction to be sent out, accumulator controller 25 standby indefinitely was up to detecting article W (the step S4 of Fig. 7); Even but passing through certain hour from predetermined instant; Also do not have under the situation of the actual arrival of article W, accumulator controller 25 also can be with carrying the cancellation request signal be sent to logistics controller 23, and after will predict and carry instruction to wait for that from the tabulation deletion new prediction conveying instructs.
Prediction carries instruction also can comprise information in a plurality of load port, that carry the specific load port of destination.
In the above-described embodiment, be that example is illustrated with accumulator, but the present invention also go for having the automated warehouse of single load port with a plurality of load port.
In the above-described embodiment, a plurality of accumulators are controlled by single accumulator controller, but also can be to each accumulator prepare control device.
[utilizing on the industry possibility]
The present invention can be widely used in possessing automated warehouse with automated warehouse controller and the delivery wagon that between automated warehouse, carries out the waggon of article transfer.
Description of reference numerals:
1... delivery wagon; 3... waggon; The road of going 5... turn-take; The road 7... backbone goes; 9... processing equipment; 11... accumulator (automated warehouse); 13... load port; 15... unloading mouth; 20... control system; 21... manufacture controller; 23... logistics controller (system controller); 25... accumulator controller (automated warehouse controller); 27... waggon controller; 29... control part; 30... memory device; 31... sensor in the storehouse; 33...ID reader; 37... crane controller; 38... shelf; 39... stack crane; 43... hoisting crane mouth; 45... warehouse-in belt conveyor; 47... control part; 48... memory device; 51... control part; 53... memory device; T... shorten the time; W... article
Claims (14)
1. delivery wagon, wherein,
This delivery wagon possesses:
Automated warehouse, it has shelf, warehouse-in mouth and automated warehouse controller;
Waggon, it sends article into above-mentioned warehouse-in mouth; With
The waggon controller, it distributes to the articles conveyed article delivery instruction of above-mentioned automated warehouse to above-mentioned waggon,
Before article were fed through above-mentioned automated warehouse from above-mentioned waggon, above-mentioned automated warehouse controller received prediction and carries instruction,
Above-mentioned prediction carries id information that instruction comprises above-mentioned article and the above-mentioned article of expression whether to be fed to the whether information of above-mentioned shelf.
2. delivery wagon according to claim 1, wherein,
Above-mentioned automated warehouse controller is carried instruction according to above-mentioned prediction, creates the interior location information of above-mentioned shelf that above-mentioned article are transported to.
3. delivery wagon according to claim 1, wherein,
Pack into after the article that above-mentioned automated warehouse is carried at above-mentioned waggon, above-mentioned automated warehouse controller receives above-mentioned prediction and carries instruction.
4. delivery wagon according to claim 2, wherein,
Pack into after the article that above-mentioned automated warehouse is carried at above-mentioned waggon, above-mentioned automated warehouse controller receives above-mentioned prediction and carries instruction.
5. delivery wagon according to claim 1, wherein,
Also possess system controller, this system controller is managed above-mentioned automated warehouse controller and above-mentioned waggon controller,
Carry instruction sending, and further after the waggon controller receives the information that the waggon loading finishes, the said system controller sends prediction to above-mentioned automated warehouse controller and carries instruction to above-mentioned waggon controller.
6. delivery wagon according to claim 2, wherein,
Also possess system controller, this system controller is managed above-mentioned automated warehouse controller and above-mentioned waggon controller,
Sent the conveying instruction to above-mentioned waggon controller after, the said system controller sends the prediction conveying to above-mentioned automated warehouse controller and instructs.
7. delivery wagon according to claim 1, wherein,
The ID reader that above-mentioned automated warehouse also has stack crane and the id information of the article that are fed to above-mentioned warehouse-in mouth is read,
Above-mentioned automated warehouse controller carries instruction to be kept in the tabulation above-mentioned prediction; When above-mentioned ID reader receives above-mentioned id information; The above-mentioned id information of above-mentioned article and the above-mentioned prediction in the above-mentioned tabulation carried instruct whether consistent the verification; If the above-mentioned id information of above-mentioned article carries instruction consistent with the above-mentioned prediction in the above-mentioned tabulation, then carry instruction according to above-mentioned prediction, make above-mentioned stack crane in above-mentioned automated warehouse, move above-mentioned article.
8. delivery wagon according to claim 2, wherein,
The ID reader that above-mentioned automated warehouse also has stack crane and the id information of the article that are fed to above-mentioned warehouse-in mouth is read,
Above-mentioned automated warehouse controller carries instruction to be kept in the tabulation with above-mentioned location information above-mentioned prediction; When above-mentioned ID reader receives above-mentioned id information; The above-mentioned id information of above-mentioned article and the above-mentioned prediction in the above-mentioned tabulation carried instruct whether consistent the verification; If the above-mentioned id information of above-mentioned article carries instruction consistent with the above-mentioned prediction in the above-mentioned tabulation, then make above-mentioned stack crane that above-mentioned article are moved to the position in the represented above-mentioned shelf of above-mentioned location information.
9. delivery wagon control method, wherein,
This delivery wagon possesses automated warehouse with shelf and warehouse-in mouthful and sends into the waggon of article to above-mentioned warehouse-in mouth,
This delivery wagon control method comprises:
Carry the command assignment step, distribute to the articles conveyed article delivery instruction of above-mentioned automated warehouse to above-mentioned waggon; With
The instruction forwarding step is carried in prediction; Before article are fed through above-mentioned automated warehouse from above-mentioned waggon; To predict and carry instruction to be sent to above-mentioned automated warehouse; Wherein, this prediction carries id information that instruction comprises above-mentioned article and the above-mentioned article of expression whether to be fed to the whether information of above-mentioned shelf.
10. delivery wagon control method according to claim 9, wherein,
Also possess shelf location information creating step, in this shelf location information creating step, carry instruction, create the interior location information of above-mentioned shelf that above-mentioned article are transported to according to above-mentioned prediction.
11. delivery wagon control method according to claim 9, wherein,
Pack into after the article that above-mentioned automated warehouse is carried at above-mentioned waggon, above-mentioned prediction carries the instruction forwarding step to be performed.
12. delivery wagon control method according to claim 10, wherein,
Pack into after the article that above-mentioned automated warehouse is carried at above-mentioned waggon, above-mentioned prediction carries the instruction forwarding step to be performed.
13. delivery wagon control method according to claim 9 also comprises:
The step of carrying instruction to preserve to above-mentioned prediction;
The step that the id information of the article that are admitted to above-mentioned warehouse-in mouth is read;
The whether consistent step of verifying of instruction is carried in the above-mentioned id information of above-mentioned article and the prediction of being preserved; With
If the above-mentioned id information of above-mentioned article carries instruction consistent with above-mentioned prediction of being preserved, the step of then carrying instruction that above-mentioned article are moved in above-mentioned automated warehouse according to above-mentioned prediction.
14. delivery wagon control method according to claim 10 also comprises:
With the step that above-mentioned prediction conveying is instructed and above-mentioned location information is preserved together;
The step that the id information of the article that are admitted to above-mentioned warehouse-in mouth is read;
The whether consistent step of verifying of instruction is carried in the above-mentioned id information of above-mentioned article and the prediction of being preserved; With
If the above-mentioned id information of above-mentioned article carries instruction consistent with above-mentioned prediction of being preserved, then above-mentioned article are moved to the step of the position in the represented above-mentioned shelf of above-mentioned location information.
Applications Claiming Priority (3)
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| JP2009-132747 | 2009-06-02 | ||
| JP2009132747 | 2009-06-02 | ||
| PCT/JP2010/003586 WO2010140325A1 (en) | 2009-06-02 | 2010-05-28 | Conveyance vehicle system |
Publications (2)
| Publication Number | Publication Date |
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| CN102448854A true CN102448854A (en) | 2012-05-09 |
| CN102448854B CN102448854B (en) | 2014-10-15 |
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| CN201080023920.5A Expired - Fee Related CN102448854B (en) | 2009-06-02 | 2010-05-28 | Conveyance vehicle system |
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| US (1) | US8855805B2 (en) |
| EP (1) | EP2439154A4 (en) |
| JP (1) | JP5472297B2 (en) |
| KR (1) | KR101358928B1 (en) |
| CN (1) | CN102448854B (en) |
| SG (1) | SG176198A1 (en) |
| TW (1) | TWI503268B (en) |
| WO (1) | WO2010140325A1 (en) |
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| TWI619662B (en) * | 2013-10-22 | 2018-04-01 | Murata Machinery Ltd | Communication device and control method thereof |
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| KR102175893B1 (en) * | 2014-02-24 | 2020-11-06 | 엘지전자 주식회사 | Manufacturing method of solar cell module |
| JP6515892B2 (en) * | 2016-08-09 | 2019-05-22 | 村田機械株式会社 | Traveling vehicle system and control method of traveling vehicle system |
| JP6589847B2 (en) * | 2016-12-26 | 2019-10-16 | 株式会社ダイフク | Material loading equipment |
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Also Published As
| Publication number | Publication date |
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| US20120078411A1 (en) | 2012-03-29 |
| JPWO2010140325A1 (en) | 2012-11-15 |
| TWI503268B (en) | 2015-10-11 |
| SG176198A1 (en) | 2011-12-29 |
| CN102448854B (en) | 2014-10-15 |
| US8855805B2 (en) | 2014-10-07 |
| WO2010140325A1 (en) | 2010-12-09 |
| TW201100315A (en) | 2011-01-01 |
| KR20120023816A (en) | 2012-03-13 |
| JP5472297B2 (en) | 2014-04-16 |
| KR101358928B1 (en) | 2014-02-06 |
| EP2439154A4 (en) | 2016-12-14 |
| EP2439154A1 (en) | 2012-04-11 |
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